Add indexer current

src/main/java/frc4388/robot/subsystems/climber/ClimberConstants.java

@@ -44,6 +44,6 @@ public class ClimberConstants {
             ).withMotorOutput(
                 new MotorOutputConfigs()
                     .withNeutralMode(NeutralModeValue.Brake) // Must be break because this has to be accurate
-                    .withDutyCycleNeutralDeadband(0.04) // TODO: Figure out what this means
+                    .withDutyCycleNeutralDeadband(0.04) // This sets the minimum output of motor so if its less than 4% it wont move
     );
 }

src/main/java/frc4388/robot/subsystems/intake/IntakeConstants.java

@@ -116,7 +116,7 @@ public class IntakeConstants {
     //         ).withMotorOutput(
     //             new MotorOutputConfigs()
     //                 .withNeutralMode(NeutralModeValue.Brake) // Must be break because this has to be accurate
-    //                 .withDutyCycleNeutralDeadband(0.04) // TODO: Figure out what this means
+    //                 .withDutyCycleNeutralDeadband(0.04) // This sets the minimum output of motor so if its less than 4% it wont move
     // );
 
     public static final TalonFXConfiguration ROLLER_MOTOR_CONFIG = new TalonFXConfiguration()
@@ -127,6 +127,6 @@ public class IntakeConstants {
             ).withMotorOutput(
                 new MotorOutputConfigs()
                     .withNeutralMode(NeutralModeValue.Coast) // Must be coast because this is spinny spinny
-                    .withDutyCycleNeutralDeadband(0.04) // TODO: Figure out what this means
+                    .withDutyCycleNeutralDeadband(0.04) // This sets the minimum output of motor so if its less than 4% it wont move
     );
 }

src/main/java/frc4388/robot/subsystems/intake/IntakeReal.java

@@ -1,27 +1,15 @@
 package frc4388.robot.subsystems.intake;
 
 import static edu.wpi.first.units.Units.Amps;
-import static edu.wpi.first.units.Units.Rotation;
 import static edu.wpi.first.units.Units.Rotations;
 import static edu.wpi.first.units.Units.RotationsPerSecond;
-import static edu.wpi.first.units.Units.RotationsPerSecondPerSecond;
 
-import com.ctre.phoenix6.controls.DutyCycleOut;
-import com.ctre.phoenix6.controls.PositionDutyCycle;
-import com.ctre.phoenix6.controls.PositionVoltage;
 import com.ctre.phoenix6.hardware.TalonFX;
 import com.revrobotics.PersistMode;
 import com.revrobotics.ResetMode;
 import com.revrobotics.spark.SparkMax;
 
-import edu.wpi.first.math.trajectory.TrapezoidProfile;
-import edu.wpi.first.math.util.Units;
-import edu.wpi.first.units.measure.Acceleration;
 import edu.wpi.first.units.measure.Angle;
-import edu.wpi.first.units.measure.Velocity;
-import edu.wpi.first.wpilibj.DigitalInput;
-import edu.wpi.first.wpilibj.DutyCycleEncoder;
-import frc4388.robot.subsystems.shooter.ShooterConstants;
 import frc4388.utility.compute.JankCoder;
 
 public class IntakeReal implements IntakeIO {
@@ -114,7 +102,7 @@ public class IntakeReal implements IntakeIO {
         state.armMotorCurrent = Amps.of(m_armMotor.getOutputCurrent());
 
         state.rollerOutput = m_rollerMotor.get();
-        // state.rollerMotorCurrent = Amps.of(m_rollerMotor.getOutputCurrent());
+        state.rollerMotorCurrent = m_rollerMotor.getStatorCurrent().getValue();
 
         state.retractedSoftLimit = retractedLimit();
         state.extendedSoftLimit = extendedLimit();

src/main/java/frc4388/robot/subsystems/shooter/ShooterConstants.java

@@ -16,7 +16,7 @@ public class    ShooterConstants {
     // Motor conversions
     
     public static final double SHOOTERMOTOR_GEAR_RATIO = 1.286; // TODO: supposed to be 9 rotations in to 7 out    -- 0.77 or 1.29
-    public static final double INDEXER_GEAR_RATIO = 1.72; // TODO: change it is supposed to be 18 to 31 
+    // public static final double INDEXER_GEAR_RATIO = 1.;
     public static final double T_CONSTANT = 2;
     public static final double SHOOTER_RADIUS = 2/39.37;
     public static final double INDEXER_RADIUS = 0.625/39.37;
@@ -116,7 +116,7 @@ public class    ShooterConstants {
             ).withMotorOutput(
                 new MotorOutputConfigs()
                     .withNeutralMode(NeutralModeValue.Coast) // Must be coast because this is spinny spinny
-                    .withDutyCycleNeutralDeadband(0.04) // TODO: Figure out what this means
+                    .withDutyCycleNeutralDeadband(0.04) // This sets the minimum output of motor so if its less than 4% it wont move
     );
     public static final TalonFXConfiguration SHOOTER2_MOTOR_CONFIG = new TalonFXConfiguration()
         .withCurrentLimits(
@@ -126,7 +126,7 @@ public class    ShooterConstants {
             ).withMotorOutput(
                 new MotorOutputConfigs()
                     .withNeutralMode(NeutralModeValue.Coast) // Must be coast because this is spinny spinny
-                    .withDutyCycleNeutralDeadband(0.04) // TODO: Figure out what this means
+                    .withDutyCycleNeutralDeadband(0.04) // This sets the minimum output of motor so if its less than 4% it wont move
     );
 
     public static final TalonFXConfiguration INDEXER_MOTOR_CONFIG = new TalonFXConfiguration()
@@ -137,6 +137,6 @@ public class    ShooterConstants {
             ).withMotorOutput(
                 new MotorOutputConfigs()
                     .withNeutralMode(NeutralModeValue.Coast) // Must be coast because this is spinny spinny
-                    .withDutyCycleNeutralDeadband(0.04) // TODO: Figure out what this means
+                    .withDutyCycleNeutralDeadband(0.04) // This sets the minimum output of motor so if its less than 4% it wont move
     );
 }